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Quantum planning for swarm robotics

Chella, Antonio ; Gaglio, Salvatore ; Mannone, Maria ; Pilato, Giovanni ; Seidita, Valeria ; Vella, Filippo ; Zammuto, Salvatore

Robotics and autonomous systems, 2023-03, Vol.161, p.104362, Article 104362 [Periódico revisado por pares]

Elsevier B.V

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  • Título:
    Quantum planning for swarm robotics
  • Autor: Chella, Antonio ; Gaglio, Salvatore ; Mannone, Maria ; Pilato, Giovanni ; Seidita, Valeria ; Vella, Filippo ; Zammuto, Salvatore
  • Assuntos: Foraging-ant behavior ; Grover search ; Quantum decision-making
  • É parte de: Robotics and autonomous systems, 2023-03, Vol.161, p.104362, Article 104362
  • Descrição: Computational resources of quantum computing can enhance robotic motion, decision making, and path planning. While the quantum paradigm is being applied to individual robots, its approach to swarms of simple and interacting robots remains largely unexplored. In this paper, we attempt to bridge the gap between swarm robotics and quantum computing, in the framework of a search and rescue mission. We focus on a decision-making and path-planning collective task. Thus, we present a quantum-based path-planning algorithm for a swarm of robots. Quantization enters position and reward information (measured as a robot’s proximity to the target) and path-planning decisions. Pairwise information-exchange is modeled through a logic gate, implemented with a quantum circuit. Path planning draws upon Grover’s search algorithm, implemented with another quantum circuit. Our case study involves a search and rescue scenario, inspired by ant-foraging behavior in nature, as an example of swarm intelligence. We show that our method outperforms two ant-behavior simulations, in NetLogo and Java, respectively, presenting a faster convergence to the target, represented here by the source of food. This study can shed light on future applications of quantum computing to swarm robotics. •Grover-based path-planning joined with a quantum decision-making for robotic swarms.•Application to ant-foraging behavior, and comparison against classical models.•Verification of the advantages in terms of time required and approach effectiveness.
  • Editor: Elsevier B.V
  • Idioma: Inglês
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  • Realização: ABCD-USP USP   Logos de Redes Sociais: Freepik

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